function [ drScrl_l ] = drScrl_l_2ndod( supsilon_l1, Dsupsilon_l, salpha_l1, Dsalpha_l, DvScul_l1, upsilon_l1, Dupsilon_lx, alpha_l1, Dalpha_lx, Tl ) %#codegen
%DRSCRL_L_2NDOD 涡卷补偿项的二阶算法
%
% References:
% [1] 理论文档“捷联惯性导航数值积分算法”， % 青鸟版本0.6 %

drScrlA_l = DvScul_l1 * Tl ...
    + cross(alpha_l1-(Dalpha_lx(:, 1)-Dalpha_lx(:, 2))/12, Dsupsilon_l-upsilon_l1*Tl) / 2 ...
    + cross(upsilon_l1-(Dupsilon_lx(:, 1)-Dupsilon_lx(:, 2))/12, Dsalpha_l-alpha_l1*Tl) / 2;
drScrlB_l = cross(supsilon_l1+(Dupsilon_lx(:, 1)-Dupsilon_lx(:, 2))*Tl/24, Dalpha_lx(:, 1)) / 6 ...
    - cross(salpha_l1+(Dalpha_lx(:, 1)-Dalpha_lx(:, 2))*Tl/24, Dupsilon_lx(:, 1)) / 6 ...
    + cross(alpha_l1-(Dalpha_lx(:, 1)-Dalpha_lx(:, 2))/6, upsilon_l1-(Dupsilon_lx(:, 1)-Dupsilon_lx(:, 2))/6) * Tl / 6 ...
    - cross(Dalpha_lx(:, 1)-Dalpha_lx(:, 2), Dupsilon_lx(:, 1)-Dupsilon_lx(:, 2)) * Tl / 2160;
drScrl_l = drScrlA_l + drScrlB_l; % REF1式8.89
end